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| HAL : hal-00614081, version 3 |
| DOI : 10.1109/TRO.2011.2175764 |
| Fiche détaillée |  Récupérer au format |
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| IEEE Transactions on Robotics 52, 2 (2012) 492-505 |
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| Versions disponibles : | v1 (09-08-2011) | v2 (11-08-2011) | v3 (01-09-2011) |
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| Model for a sensor inspired by electric fish |
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| Frédéric Boyer1P. B. Gossiaux2Brahim Jawad1Vincent Lebastard1Mathieu Porez1 |
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| European project Angels 231845 Collaboration(s) |
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| (2012) |
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| This article reports the first results from a programme of work aimed at developing a swimming robot equipped with electric sense. After having presented the principles of a bio- inspired electric sensor, now working, we will build the models for electrolocation of objects that are suited to this kind of sensor. The produced models are in a compact analytical form in order to be tractable on the onboard computers of the future robot. These models are tested by comparing them with numerical simulations based on the boundary elements method. The results demonstrate the feasibility of the approach and its compatibility with online objects electrolocation, another parallel programme of ours. |
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| 1 : | IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes |
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| 2 : | SUBATECH - Laboratoire SUBATECH Nantes |
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| Domaine | : | Sciences de l'ingénieur/Automatique / Robotique |
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| Electrolocation – active perception – bio-inspired sensor – model reduction – electrokinetics – elec- trostatics – resistance matrix |
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| Liste des fichiers attachés à ce document : | |||||
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| hal-00614081, version 3 | |
| http://hal.archives-ouvertes.fr/hal-00614081 | |
| oai:hal.archives-ouvertes.fr:hal-00614081 | |
| Contributeur : Mathieu Porez | |
| Soumis le : Jeudi 1 Septembre 2011, 10:20:53 | |
| Dernière modification le : Vendredi 27 Avril 2012, 10:01:17 | |
